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<div class="title">openni_passthrough.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_APPS_OPENNI_PASSTHROUGH_3D_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_APPS_OPENNI_PASSTHROUGH_3D_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">// PCL</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/openni_passthrough_qt.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/io/openni_grabber.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2time_8h.html">pcl/common/time.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/visualization/pcl_visualizer.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/passthrough.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">// Useful macros</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#define FPS_CALC(_WHAT_) \</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">do \</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">{ \</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">    static unsigned count = 0;\</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">    static double last = pcl::getTime ();\</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">    double now = pcl::getTime (); \</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">    ++count; \</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">    if (now - last &gt;= 1.0) \</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">    { \</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">      std::cout &lt;&lt; &quot;Average framerate(&quot;</span>&lt;&lt; _WHAT_ &lt;&lt; &quot;): &quot; &lt;&lt; double(count)/double(now - last) &lt;&lt; &quot; Hz&quot; &lt;&lt;  std::endl; \</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      count = 0; \</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      last = now; \</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    } \</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;}while(false)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">namespace </span>Ui</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keyword">class </span><a class="code" href="class_main_window.html">MainWindow</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="class_open_n_i_passthrough.html">   72</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_open_n_i_passthrough.html">OpenNIPassthrough</a> : <span class="keyword">public</span> QMainWindow</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;{</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  Q_OBJECT</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">Cloud</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">typedef</span> Cloud::Ptr CloudPtr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keyword">typedef</span> Cloud::ConstPtr CloudConstPtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <a class="code" href="class_open_n_i_passthrough.html">OpenNIPassthrough</a> (pcl::OpenNIGrabber&amp; grabber);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    ~<a class="code" href="class_open_n_i_passthrough.html">OpenNIPassthrough</a> ()</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keywordflow">if</span> (grabber_.isRunning ())</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        grabber_.stop ();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    cloud_cb (<span class="keyword">const</span> CloudConstPtr&amp; cloud);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    boost::shared_ptr&lt;pcl::visualization::PCLVisualizer&gt; vis_;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    pcl::OpenNIGrabber&amp; grabber_;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    std::string device_id_;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    CloudPtr cloud_pass_;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <a class="code" href="classpcl_1_1_pass_through.html">pcl::PassThrough&lt;pcl::PointXYZRGBA&gt;</a> pass_;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    QMutex mtx_;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    Ui::MainWindow *ui_;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    QTimer *vis_timer_;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keyword">public</span> Q_SLOTS:</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    adjustPassThroughValues (<span class="keywordtype">int</span> new_value)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      pass_.<a class="code" href="classpcl_1_1_pass_through.html#a4c852c876b5ed3d9235d5b4e59353883">setFilterLimits</a> (0.0f, <span class="keywordtype">float</span> (new_value) / 10.0f);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      PCL_INFO (<span class="stringliteral">&quot;Changed passthrough maximum value to: %f\n&quot;</span>, <span class="keywordtype">float</span> (new_value) / 10.0f);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keyword">private</span> Q_SLOTS:</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    timeoutSlot ();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  Q_SIGNALS:</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    valueChanged (<span class="keywordtype">int</span> new_value);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;};</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_APPS_OPENNI_PASSTHROUGH_3D_</span></div>
<div class="ttc" id="aclass_main_window_html"><div class="ttname"><a href="class_main_window.html">MainWindow</a></div><div class="ttdoc">the class for point cloud editor</div><div class="ttdef"><b>Definition:</b> mainWindow.h:62</div></div>
<div class="ttc" id="aclass_open_n_i_passthrough_html"><div class="ttname"><a href="class_open_n_i_passthrough.html">OpenNIPassthrough</a></div><div class="ttdef"><b>Definition:</b> openni_passthrough.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1_pass_through_html"><div class="ttname"><a href="classpcl_1_1_pass_through.html">pcl::PassThrough&lt; pcl::PointXYZRGBA &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_pass_through_html_a4c852c876b5ed3d9235d5b4e59353883"><div class="ttname"><a href="classpcl_1_1_pass_through.html#a4c852c876b5ed3d9235d5b4e59353883">pcl::PassThrough::setFilterLimits</a></div><div class="ttdeci">void setFilterLimits(const float &amp;limit_min, const float &amp;limit_max)</div><div class="ttdoc">Set the numerical limits for the field for filtering data.</div><div class="ttdef"><b>Definition:</b> passthrough.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZRGBA &gt;</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="acommon_2time_8h_html"><div class="ttname"><a href="common_2time_8h.html">time.h</a></div></div>
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